| 1. |
- Bolmsjö, Gunnar, et al.
(författare)
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Task planning for welding applications
- 1993
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Ingår i: Systems, Man and Cybernetics : Systems Engineering in the Service of Humans - Systems Engineering in the Service of Humans. - 0780309111 ; , s. 515-519
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Konferensbidrag (refereegranskat)abstract
- Welding robots that use sensors to compensate for variations in their environment pose new requirements for programming systems and for controller architectures. Tracking sensors must be programmed with the geometry of the welds and the motions of the robot. The process monitoring system must be programmed with the required process tolerances and the type of weld. Finally, the controller must be programmed with the motion parameters, velocity and end-pose. Task planning for welding applications is the specification of the geometrical and the technological parameters that are necessary to the above subsystems. The architecture of the controller also must be process-related to allow the flow of planning information to the different subsystems and the necessary feedback to the planning level. Data from the sensors must be used with path data, process information and the geometry of the welds to adjust the process in real time. This article describes the requirements of process-related programming and real-time control of industrial robots based on sensor data.
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| 2. |
- Söderman, Ulf, et al.
(författare)
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The Conceptual Side of Mode Switching
- 1993
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Ingår i: Proceedings of the 1993 IEEE International Conference on Systems, Man and Cybernetics. - Linköping : Linköping University. - 0780309111 ; , s. 245-250 vol.1
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- For continuous dynamic systems there are many powerful methods for modelling. However, when dealing with systems undergoing abrupt behavioural changes, i.e. mode switching systems, the picture suddenly is changed. We here claim that the reason for this is that mode switching traditionally is treated by mathematical and/or logical solutions only. That is, at the wrong level of abstraction. We present several arguments supporting this view, and finally present our solution to this problem: the ideal switch concept.
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